Open AccessA Review of Mobile Robot Navigation System for Volcano Monitoring Application
Author(s) -
Maria Evita
Publication year - 2021
Publication title -
kontribusi fisika indonesia
Language(s) - English
Resource type - Journals
ISSN - 0854-6878
DOI - 10.5614/ijp.v32i1.300
Subject(s) - trajectory , volcano , kinematics , robot , mobile robot , obstacle avoidance , obstacle , track (disk drive) , geology , real time computing , simulation , computer science , artificial intelligence , seismology , geography , physics , archaeology , classical mechanics , astronomy , operating system
Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.